When developing your own code that relies on OMPL, you have several options:

Install OMPL and use your own build system: First, if you are installing OMPL “by hand” (i.e., not through your package manager), run the following commands in your OMPL build directory:

cmake -DCMAKE_INSTALL_PREFIX=/some/path
make install

See Build Options for details on how to enable/disable different OMPL-specific features. Below are the specifics for different build systems:

CMake: For ease of use with CMake, we have included a CMake module. This normally gets installed in the CMake module path, so if you use CMake in your own project, you can simply use this command in your CMakeLists.txt: find_package(ompl). This will define the following variables:

OMPL_FOUND - TRUE

OMPL_INCLUDE_DIRS - The OMPL include directory

OMPL_LIBRARIES - The OMPL library

OMPLAPP_LIBRARIES - The OMPL.app libraries (if installed)

OMPL_VERSION - The OMPL version in the form <major>.<minor>.<patchlevel>

OMPL_MAJOR_VERSION - Major version

OMPL_MINOR_VERSION - Minor version

OMPL_PATCH_VERSION - Patch version

Makefiles: If you use Makefiles, add “-I/usr/local/include” (or, e.g., “-I${HOME}/ompl/src”) to your compile flags, and “-L/usr/local/lib -lompl” (or, e.g., “-L${HOME}/ompl/build/Release/lib -lompl”) to your link flags. The compile and link flags can also be obtained using “pkg-config --cflags ompl” and “pkg-config --libs ompl”, respectively.

Autotools: Use the pkg-config autoconf macro PKG_CHECK_MODULES([OMPL],[ompl >= 0.10]). This is will define OMPL_LIBS and OMPL_CFLAGS if OMPL was found.

Eclipse CDT: Below is a brief set of instructions for getting OMPL to work with Eclipse CDT. These instructions have been verified to work with Eclipse Indigo with CDT.

Click Advanced Settings to open the Properties window for your project.

Go to C/C++ Build -> Settings in the left pane.

Under the Tool Settings tab, choose Cross G++ Compiler -> Includes. To the "Include paths" section, add the location of the OMPL source tree. For example, on a Linux system with default installation path, you should use "/usr/local/include". Click Apply.

Again under the Tool Settings tab, choose Cross G++ Linker -> Libraries. To the "Libraries" section, add "ompl" (and, if needed, "ompl_app_base" and "ompl_app") . To the "Library search path" section, add the location of the OMPL library files. For example, on a Linux system with default installation path, you should use "/usr/local/lib". Click Apply.

Click OK to leave the Properties window. Click Finish.

IDE's such as MS Visual Studio and Xcode: consult your IDE's manual.

Add your own code in OMPL's directory structure: This option is recommend if you extend functionality of OMPL that you wish to contribute back to the OMPL project (see Third-Party Contributions for details). OMPL uses CMake for its build system. CMake can generate Makefiles and project files for many IDE's. If you create C++ code under ompl/src/ompl/[folder], you need to re-run CMake. CMake will detect your code if [folder] is one of the directories already included by OMPL. If you want your code to be in a different location, you should update ompl/src/ompl/CMakeLists.txt accordingly. See the Python documentation for specific instructions on how to create python bindings for your own code.